lib/main/MAVLink/common/mavlink_msg_set_actuator_control_target.h

   1 #pragma once
   2 // MESSAGE SET_ACTUATOR_CONTROL_TARGET PACKING
   3
   4 #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET 139
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_set_actuator_control_target_t {
   8  uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
   9  float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/
  10  uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/
  11  uint8_t target_system; /*< System ID*/
  12  uint8_t target_component; /*< Component ID*/
  13 }) mavlink_set_actuator_control_target_t;
  14
  15 #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN 43
  16 #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN 43
  17 #define MAVLINK_MSG_ID_139_LEN 43
  18 #define MAVLINK_MSG_ID_139_MIN_LEN 43
  19
  20 #define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC 168
  21 #define MAVLINK_MSG_ID_139_CRC 168
  22
  23 #define MAVLINK_MSG_SET_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
  27     139, \
  28     "SET_ACTUATOR_CONTROL_TARGET", \
  29     5, \
  30     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
  31          { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
  32          { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
  33          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
  34          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
  39     "SET_ACTUATOR_CONTROL_TARGET", \
  40     5, \
  41     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
  42          { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
  43          { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
  44          { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
  45          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a set_actuator_control_target message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param time_usec Timestamp (micros since boot or Unix epoch)
  57  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  58  * @param target_system System ID
  59  * @param target_component Component ID
  60  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_set_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
  68     _mav_put_uint64_t(buf, 0, time_usec);
  69     _mav_put_uint8_t(buf, 40, group_mlx);
  70     _mav_put_uint8_t(buf, 41, target_system);
  71     _mav_put_uint8_t(buf, 42, target_component);
  72     _mav_put_float_array(buf, 8, controls, 8);
  73         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
  74 #else
  75     mavlink_set_actuator_control_target_t packet;
  76     packet.time_usec = time_usec;
  77     packet.group_mlx = group_mlx;
  78     packet.target_system = target_system;
  79     packet.target_component = target_component;
  80     mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
  81         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
  85     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
  86 }
  87
  88 /**
  89  * @brief Pack a set_actuator_control_target message on a channel
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param chan The MAVLink channel this message will be sent over
  93  * @param msg The MAVLink message to compress the data into
  94  * @param time_usec Timestamp (micros since boot or Unix epoch)
  95  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
  96  * @param target_system System ID
  97  * @param target_component Component ID
  98  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
  99  * @return length of the message in bytes (excluding serial stream start sign)
 100  */
 101 static inline uint16_t mavlink_msg_set_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 102                                mavlink_message_t* msg,
 103                                    uint64_t time_usec,uint8_t group_mlx,uint8_t target_system,uint8_t target_component,const float *controls)
 104 {
 105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 106     char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
 107     _mav_put_uint64_t(buf, 0, time_usec);
 108     _mav_put_uint8_t(buf, 40, group_mlx);
 109     _mav_put_uint8_t(buf, 41, target_system);
 110     _mav_put_uint8_t(buf, 42, target_component);
 111     _mav_put_float_array(buf, 8, controls, 8);
 112         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
 113 #else
 114     mavlink_set_actuator_control_target_t packet;
 115     packet.time_usec = time_usec;
 116     packet.group_mlx = group_mlx;
 117     packet.target_system = target_system;
 118     packet.target_component = target_component;
 119     mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
 121 #endif
 122
 123     msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
 124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
 125 }
 126
 127 /**
 128  * @brief Encode a set_actuator_control_target struct
 129  *
 130  * @param system_id ID of this system
 131  * @param component_id ID of this component (e.g. 200 for IMU)
 132  * @param msg The MAVLink message to compress the data into
 133  * @param set_actuator_control_target C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_set_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
 136 {
 137     return mavlink_msg_set_actuator_control_target_pack(system_id, component_id, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
 138 }
 139
 140 /**
 141  * @brief Encode a set_actuator_control_target struct on a channel
 142  *
 143  * @param system_id ID of this system
 144  * @param component_id ID of this component (e.g. 200 for IMU)
 145  * @param chan The MAVLink channel this message will be sent over
 146  * @param msg The MAVLink message to compress the data into
 147  * @param set_actuator_control_target C-struct to read the message contents from
 148  */
 149 static inline uint16_t mavlink_msg_set_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
 150 {
 151     return mavlink_msg_set_actuator_control_target_pack_chan(system_id, component_id, chan, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
 152 }
 153
 154 /**
 155  * @brief Send a set_actuator_control_target message
 156  * @param chan MAVLink channel to send the message
 157  *
 158  * @param time_usec Timestamp (micros since boot or Unix epoch)
 159  * @param group_mlx Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
 160  * @param target_system System ID
 161  * @param target_component Component ID
 162  * @param controls Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
 163  */
 164 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 165
 166 static inline void mavlink_msg_set_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
 167 {
 168 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 169     char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
 170     _mav_put_uint64_t(buf, 0, time_usec);
 171     _mav_put_uint8_t(buf, 40, group_mlx);
 172     _mav_put_uint8_t(buf, 41, target_system);
 173     _mav_put_uint8_t(buf, 42, target_component);
 174     _mav_put_float_array(buf, 8, controls, 8);
 175     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
 176 #else
 177     mavlink_set_actuator_control_target_t packet;
 178     packet.time_usec = time_usec;
 179     packet.group_mlx = group_mlx;
 180     packet.target_system = target_system;
 181     packet.target_component = target_component;
 182     mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
 184 #endif
 185 }
 186
 187 /**
 188  * @brief Send a set_actuator_control_target message
 189  * @param chan MAVLink channel to send the message
 190  * @param struct The MAVLink struct to serialize
 191  */
 192 static inline void mavlink_msg_set_actuator_control_target_send_struct(mavlink_channel_t chan, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
 193 {
 194 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 195     mavlink_msg_set_actuator_control_target_send(chan, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
 196 #else
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)set_actuator_control_target, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
 198 #endif
 199 }
 200
 201 #if MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 202 /*
 203   This varient of _send() can be used to save stack space by re-using
 204   memory from the receive buffer.  The caller provides a
 205   mavlink_message_t which is the size of a full mavlink message. This
 206   is usually the receive buffer for the channel, and allows a reply to an
 207   incoming message with minimum stack space usage.
 208  */
 209 static inline void mavlink_msg_set_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
 210 {
 211 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 212     char *buf = (char *)msgbuf;
 213     _mav_put_uint64_t(buf, 0, time_usec);
 214     _mav_put_uint8_t(buf, 40, group_mlx);
 215     _mav_put_uint8_t(buf, 41, target_system);
 216     _mav_put_uint8_t(buf, 42, target_component);
 217     _mav_put_float_array(buf, 8, controls, 8);
 218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
 219 #else
 220     mavlink_set_actuator_control_target_t *packet = (mavlink_set_actuator_control_target_t *)msgbuf;
 221     packet->time_usec = time_usec;
 222     packet->group_mlx = group_mlx;
 223     packet->target_system = target_system;
 224     packet->target_component = target_component;
 225     mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
 227 #endif
 228 }
 229 #endif
 230
 231 #endif
 232
 233 // MESSAGE SET_ACTUATOR_CONTROL_TARGET UNPACKING
 234
 235
 236 /**
 237  * @brief Get field time_usec from set_actuator_control_target message
 238  *
 239  * @return Timestamp (micros since boot or Unix epoch)
 240  */
 241 static inline uint64_t mavlink_msg_set_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_uint64_t(msg,  0);
 244 }
 245
 246 /**
 247  * @brief Get field group_mlx from set_actuator_control_target message
 248  *
 249  * @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
 250  */
 251 static inline uint8_t mavlink_msg_set_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
 252 {
 253     return _MAV_RETURN_uint8_t(msg,  40);
 254 }
 255
 256 /**
 257  * @brief Get field target_system from set_actuator_control_target message
 258  *
 259  * @return System ID
 260  */
 261 static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_system(const mavlink_message_t* msg)
 262 {
 263     return _MAV_RETURN_uint8_t(msg,  41);
 264 }
 265
 266 /**
 267  * @brief Get field target_component from set_actuator_control_target message
 268  *
 269  * @return Component ID
 270  */
 271 static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_component(const mavlink_message_t* msg)
 272 {
 273     return _MAV_RETURN_uint8_t(msg,  42);
 274 }
 275
 276 /**
 277  * @brief Get field controls from set_actuator_control_target message
 278  *
 279  * @return Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
 280  */
 281 static inline uint16_t mavlink_msg_set_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
 282 {
 283     return _MAV_RETURN_float_array(msg, controls, 8,  8);
 284 }
 285
 286 /**
 287  * @brief Decode a set_actuator_control_target message into a struct
 288  *
 289  * @param msg The message to decode
 290  * @param set_actuator_control_target C-struct to decode the message contents into
 291  */
 292 static inline void mavlink_msg_set_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_set_actuator_control_target_t* set_actuator_control_target)
 293 {
 294 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 295     set_actuator_control_target->time_usec = mavlink_msg_set_actuator_control_target_get_time_usec(msg);
 296     mavlink_msg_set_actuator_control_target_get_controls(msg, set_actuator_control_target->controls);
 297     set_actuator_control_target->group_mlx = mavlink_msg_set_actuator_control_target_get_group_mlx(msg);
 298     set_actuator_control_target->target_system = mavlink_msg_set_actuator_control_target_get_target_system(msg);
 299     set_actuator_control_target->target_component = mavlink_msg_set_actuator_control_target_get_target_component(msg);
 300 #else
 301         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN;
 302         memset(set_actuator_control_target, 0, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
 303     memcpy(set_actuator_control_target, _MAV_PAYLOAD(msg), len);
 304 #endif
 305 }